METHODS AND SYSTEMS FOR OPERATING A PLURALITY OF OPERATING HEADS OF AN OPERATING MACHINE

原文（中文）

A method of assigning a set of toolpaths (SCTFP) to a plurality of operating heads of an operating machine apparatus, the operating heads being displaceable within respective operating regions via a plurality of sub-systems of the operating machine apparatus (). The method comprises: generating () a global toolpath (TP) based on a computerized object model (OB) provided via a computer-aided design, CAD processing stage (CP); based on respective operating regions and on a target travel time (CF), partitioning () the global toolpath (TP) and assigning toolpath partitions of a set of toolpath partitions (TPTP) to respective operating heads of the plurality of operating heads; providing a computerized machine model (DT) configured to emulate the dynamical behavior of the operating machine apparatus (); emulating (), via the computerized machine model (DT), the displacement of the operating heads according to the toolpath partitions (TPTP); based on the emulated displacement, detecting () collisions among operating heads; in response to detecting the presence of mutual collisions, adjusting and re-assigning toolpath partitions of the set of toolpath partitions (TPTP) to respective operating heads; in response to failing to detect the presence of mutual collisions, providing () the set of toolpath partitions (TPTP) as a set of collision-free toolpaths (CFTPCFTPSCFTP) to the operating machine apparatus for driving the sub-systems to displace the plurality of operating heads accordingly.